The use of pneumatic artificial muscles in robot construction

Abstract

PurposeRecent requirements for drive systems in robotic technology, mainly for their performance, performance and weight ratio, compactness with minimal internal structure and with the integration of main functional parts, lead to intensive application of new, non‐traditional solutions. One of the possible approaches to a non‐traditional solution of drive systems in robotic technology is the application of pneumatic artificial muscle (PAM). The purpose of this paper is to review the designs and applications of the under‐pressure artificial muscle (UPAM) and the creation of non‐standard modules for robotic technology based on PAM.Design/methodology/approachCertain part of the disadvantages of an over‐pressure PAM can be solved by the use of an UPAM. As a performance output, UPAM principle guarantees linear movement along the axis with relevant traction force. This UPAM demonstration is evaluated as the drive in mechanic constructions.FindingsTheoretical calculations, which have been performed, as well as experimental tests and evaluations of the model of this muscle have confirmed an agreement with theoretical relationships valid for PAM generally. The module TMPAM with lengthening action element is principally based on the change of input pressure energy, shape and volume change of action element into output mechanical (power, kinetic) energy. The analysis of the results of measurements (set of measurements, four samples of action element) of the given relationships allows to say that the tractive power F and the lift grow with the change of geometric arrangement of the action element in the box of the driving unit. The output parameters of the TMPAM can be regulated by the number of action elements integrated in the unit (creating two‐element and more‐elemnet parallel sets).Practical implicationsThe UPAM maintains all advantages of the principle and recent constructions of the PAM, as well as lightness and compactness of the design. The results confirm that this construction principle of the translation modules is suitable mainly for small lifts, lower load and movements, where even, soft motion is required.Originality/valueOn the basis of author's own solutions of the underpressure artificial muscle (UPAM, original patent) and non‐traditional translation module (TMPAM, original design), the paper evaluates and generalizes the findings obtained from the use of PAM in robot construction.